机械毕业设计三自由度气动机械手的总体机构设计.docVIP

本科毕业设计说明书 题 目：带水平旋转的三自由度气 动机械手的机构设计 院 （部）： 机电工程学院 专 业： 机械工程与自动化 班 级： 姓 名： 学 号： 指导教师： 完成日期： 目 录 TOC \o 1-3 \h \z \u 摘 要··································································Ⅲ ABSTRACT····························································Ⅳ 1 前 言 1.1机械手发展状况························································1 1.2气动技术的优点及发展趋势··············································2 1.3现有气动机械手的形式及应用············································3 1.4本设计的意义及目的····················································3 2 本机械手的技术指标和总体方案 2.1 本机械手的技术指标····················································5 2.2 机械手的总体结构设计··················································6 2.2.1 机械手结构方案设计·················································6 2.2.2 机械手的驱动方案设计···············································7 2.2.3 机械手的控制系统设计···············································7 2.3 小结··································································7 3 机械手手爪的设计 3.1 手爪的种类及设计注意事项··············································8 3.2 手爪的抓取功能和手指尺寸计算··········································9 3.3夹紧气缸的选用·······················································13 3.4手爪联接件的设计·····················································18 4 机械手手臂的设计 4.1 手臂设计要求························································19 4.2 机械手手臂的结构设计·················································19 4.3 升降气缸的选用·······················································22 4.4 横移气缸的选用······················································24 4.5垂直手臂联接件的设计·················································25 4.6 回转机构的设计·······················································26 4.7立柱结构及底座的设计·················································31 5 机械手的气路设计 5.1气压传动的设计要求···················································33 5.2气压传动系统的组成···················································33 5.3本机械手的气路设计···················································336 结论·································································35